The incessant progress of robotic technology and rationalization of human manpower
induces high expectations in society, but also resentment and even fear. In this paper, we …

Locomotion of biped robots requires predictive controllers due to its unstable dynamics and
physical limitations of contact forces. A real-time controller designed to perform complex …

This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …

Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with
the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This …

The main contribution of this paper is the design and development of the lower body of
PANDORA (3D-Printed Autonomous humaNoid Developed for Open-source Research …

We present a computationally efficient method for online planning of bipedal walking
trajectories with push recovery. In particular, the proposed methodology fits control …

This paper proposes an architecture for achieving telexistence and teleoperation of
humanoid robots. The architecture combines several technological set-ups, methodologies …

To ensure that a humanoid robot can walk in complex environments, a robust walking
pattern that responds to disturbances is essential. When generating the walking pattern …

Balancing and push-recovery are essential capabilities enabling humanoid robots to solve
complex locomotion tasks. In this context, classical control systems tend to be based on …

This paper contributes toward the benchmarking of control architectures for bipedal robot
locomotion. It considers architectures that are based on the Divergent Component of Motion …